CN105263770B - Method for controlling electromechanical actuator and control device - Google Patents
Method for controlling electromechanical actuator and control device Download PDFInfo
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- CN105263770B CN105263770B CN201480032019.2A CN201480032019A CN105263770B CN 105263770 B CN105263770 B CN 105263770B CN 201480032019 A CN201480032019 A CN 201480032019A CN 105263770 B CN105263770 B CN 105263770B
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- 238000000034 method Methods 0.000 title claims abstract description 39
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- 230000006870 function Effects 0.000 description 15
- 230000001276 controlling effect Effects 0.000 description 12
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- 230000033001 locomotion Effects 0.000 description 2
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- 238000012545 processing Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/3255—Systems in which the braking action is dependent on brake pedal data
- B60T8/326—Hydraulic systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
- B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
- B60T8/4081—Systems with stroke simulating devices for driver input
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/064—Circuit arrangements for actuating electromagnets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/82—Brake-by-Wire, EHB
Abstract
The present invention relates to a kind of methods for controlling the electromechanical actuator (1,2) of motor vehicle braking systems, wherein the especially measured actual value (P of controlled parameterSys,Ist, FIst) predetermined given value (P should be adjusted toSys,Soll, FSoll), wherein it is based on the given value (PSys,Soll, FSoll) and the actual value (PSys,Ist, FIst) particularly by the first controller (19,20) acquire the first actuator velocity given value (ωAkt,Soll,DR,Ctrl), wherein it is based on the first actuator velocity given value and the second actuator velocity given value (ωAkt,Soll,DR,FFW,1) determine the adjustable parameter (ω of the electromechanical actuator (1,2)Akt,Soll, MAkt,Soll), wherein the second actuator velocity given value (ωAkt,Soll,DR,FFW,1) it is based on the given value and controlled parameter (PSys, F) with corresponding to electromechanical actuator position parameter (XAkt) between predetermined relationship (30,40) acquire.The control device for the electromechanical actuator (1,2) that the invention further relates to a kind of for motor vehicle braking systems.
Description
Technical field
The present invention relates to a kind of methods and control device for controlling electromechanical actuator.
Background technology
In automotive engineering, " brake-by-wire " braking system becomes more and more popular.Fluid pressure type " brake-by-wire " braking system
Also typically included other than the master cylinder that can be operated by vehicle driver can electric control pressure providing device, by means of institute
It states pressure providing device and either directly or via master cylinder operates wheel braking in " brake-by-wire " method of operation
Device.In order to transmit suitable pedal sense to vehicle driver in " brake-by-wire " method of operation, braking system generally includes
Brake pedal feel simulator, the brake pedal feel simulator are for example acted on master cylinder and being connected.In order to control
Braking system, is provided with given value transmitter, and the given value transmitter such as analyzing processing one or more is driven for detecting
The person of sailing brakes the electric signal for the sensor for it is expected (operation it is expected), to determine the given value for providing device for control pressure.
But in this braking system, pressure providing device can not also be grasped in the case where driver actively helps based on electronic signal
Make.The electronic signal can for example be exported by electronic stability program (ESC) or distant-control system (ACC), and given value is sent out as a result,
Device is sent to determine the given value for providing device for control pressure based on the signal.
It is described in 2011/154275 A1 of WO a kind of for controlling for motor vehicle with electronic controlled pressure
The wheel drag of the method for providing the electro-hydraulic brake system of device, the pressure providing device and hydraulically operable connects.
Pressure providing device includes the cylinder-piston apparatus for having hydraulic pressure room, and the piston of the cylinder-piston apparatus can pass through electromechanical
Actuator is moved relative to resting position.In order to be controlled, it is determined as the precompression that input parameter is conveyed to control device
Actual value and precompression given value.Cylinder-piston apparatus is controlled in this way by control device so that precompression given value is in hydraulic pressure
It is adjusted by the movement of piston in room.
In addition, it is known have it is at least one can electromechanical operation wheel drag " brake-by-wire " braking system.Example
Such as by 1 611 365 B1 of EP know it is a kind of for motor vehicle can electromechanical operation disk brake operating unit, it is described
Disk brake be arranged on caliper, can be restricted in the caliper movably setting there are two respectively with the side of brake disc
The coefficient friction lining in face, wherein one of friction lining can be directly and another by operating unit by means of operating element
With a friction lining is entered by effect from counter-force that caliper applies and brake disc, wherein operating unit by motor,
Make to be slowed down in motor and first with the first speed reduction gearing and setting that are arranged between motor and operating element
The second speed reduction gearing composition between a part for transmission device, wherein operating unit is configured with electronic control unit, institute
Electronic control unit is stated for controlling motor.
A kind of method for controlling braking system, the braking system are described in 10 2,012 200 494 A1 of DE
With can by electromechanical actuator drive fluid pressure type cylinder-piston apparatus be used as pressure providing device.Here, according to measured
Pressure actual value and predetermined pressure given value determine for electromechanical actuator adjustable parameter.There are specified conditions
In the case of, replace measured pressure actual value to determine the modal pressure actual value calculated and is based on modal pressure actual value
The adjustable parameter for electromechanical actuator is determined with predetermined pressure given value.Modal pressure actual value herein give in advance by basis
Fixed linear function is calculated by the current location of pressure providing device.Therefore predetermined linear function is considered for calculating
The pressure actual value for control as an alternative solution replaces measured pressure actual value.This method is used only for quickly
Overcome the especially big gap for the wheel drag being connected on pressure providing device.Therefore it cannot achieve the essence of adjusting behavior
The general improvement of degree.
Invention content
The object of the present invention is to provide a kind of methods for controlling electromechanical actuator and one kind being used for electromechanical
The control device of actuator, the method/control device can realize more accurately adjust controlled parameter it is predetermined to
Definite value or (temporal) given value change curve.
According to the present invention, the purpose according to method and control device as described below by realizing.
The method of the electromechanical actuator for controlling motor vehicle braking systems of the present invention is used for the outstanding of controlled parameter
It is that measured actual value is adjusted to predetermined given value, wherein based on the given value and the actual value by means of
First controller acquires the first actuator velocity given value, and based on the first actuator velocity given value and is used for speed
Second actuator velocity given value of pre-control determines the adjustable parameter for the electromechanical actuator.The present invention is based in this way
Design：Given value and actual value based on controlled parameter acquire the first actuator velocity given value, based on giving for controlled parameter
Definite value and controlled parameter and acquire the second actuating corresponding to the predetermined relationship between the parameter of the position of electromechanical actuator
Device speed preset value determines the adjustable parameter for electromechanical actuator based on the first and second actuator velocity given values.The
Thus two actuator speed preset values are improved speed pre-controls.
The present invention provides the advantages of matching with situation and thus faster and more accurately setting given value.
According to the present invention, it is however generally that, electromechanical actuator or electromechanical actuator are interpreted as actuator position
A part position or posture or state or by the position of the component of electromechanical actuator driving or posture or state.Such as it causes
Dynamic device position can be the rotor azimuth angle of motor or the lead screw position of rotation-translation drive unit.In pressure providing device
By electromechanical actuator drive piston in the case of, actuator position for example can be the position of piston.
According to the present invention, the parameter of the position corresponding to electromechanical actuator is interpreted as to anticipate ground with actuator position list
Associated parameter.Parameter corresponding to the position of electromechanical actuator can be actuator position itself or the ginseng that is contacted with this
Amount.In the case of cylinder-the piston apparatus driven by electromechanical actuator, corresponding parameter for example can be that pressure provides dress
The volume for the balancing gate pit set, the volume are singly connected to meaning by the diameter of cylinder with actuator position (piston position in other words)
System.In the case of cited, controlled parameter and corresponding to the predetermined pass between the parameter of the position of electromechanical actuator
System can for example pass through pressure-piston position characteristic curve or pressure-volume characteristic curve or pressure-rotor azimuth angle characteristic curve
It provides.
First actuator velocity given value is acquired preferably by means of the first controller by given value and actual value.
An expanded configuration according to the present invention determines third actuator based on the first and second actuator velocity given values
Speed preset value.The third actuator velocity given value advantageously acts as input parameter and is conveyed to second controller.Second control
Device processed is particularly preferably speed control.Third actuator velocity given value particularly preferably passes through first and for simplicity reasons
The phase Calais of two actuator speed preset values is formed.
Second controller preferably provides torque reference value as output parameter joins as the adjusting for electromechanical actuator
Amount.
A preferred implementing form according to the method for the present invention acquires actuating by given value by means of predetermined relationship
Device position given value.
In addition the second actuator velocity given value is preferably acquired by actuator position given value.It then can perform speed as a result,
Spend pre-control.
In order to improve the quality of obtained actuator position given value, given value is preferably filtered and filtered to be given
Definite value is considered for acquiring actuator position given value.
It preferably is carried out the raising limitation of obtained actuator position given value.Particularly preferably actuator position is given herein
The variation of definite value is restricted to the maximum change in location of each sampling time of the first controller.
It is preferably based on confined actuator position given value or the confined variation based on actuator position given value
Acquire the first actuator velocity.First actuator velocity can be come simply by the difference of confined actuator position given value
It determines.First actuator velocity also can be determined simply by the confined variation of actuator position given value, because in order to control
The sampling instant in device circuit is known.
In order to be adapted to control, it is preferably carried out the weighting of speed pre-control：First actuator velocity by with ratio because
Son is multiplied to weight.
A preferred development configuration according to the present invention executes the rate limitation of the first actuator velocity.The speed limit
System advantageously allows according to the rotation direction of actuator pre- for speed the case where executing, established accordingly, for pressure/force
The big value of control, such as to support quick gap to overcome, and value smaller for pressure/force attenuating is with regard to enough.
It is preferably based on the confined variation or of confined actuator position given value or actuator position given value
One actuator velocity acquires the second actuator velocity given value.
The present invention also relates to a kind of control device, the especially measured actual value of controlled parameter is filled by means of the control
Set the given value for being adjusted to predetermined.The control device includes the first controller and is connected to the of first controller downstream
Two controllers, especially speed control, the predetermined given value and the actual value are fed to as input parameter
First controller, wherein by the first actuator velocity given value determined by means of first controller and for speed
It spends the second actuator velocity given value of pre-control and determines third actuator velocity given value especially by being added, described second
Actuator velocity given value is based on the given value and the controlled parameter and the position corresponding to the electromechanical actuator
Predetermined relationship between parameter determines.
Control device is preferably included so as to executing device according to the method for the present invention.
One preferred implementing form of control device according to the present invention, the first controller export the first actuator velocity to
Definite value, third actuator velocity given value and actuator velocity actual value are conveyed to second controller as input parameter.
Second controller preferably exports actuator torque given value, is determined by the actuator torque given value for controlling
Second actuator torque given value of actuator.Second actuator torque given value particularly preferably consider predetermined minimum and
The case where maximum moment limiting value, gets off determination.
Control device is preferably included for calculating actuator position given value by means of predetermined relationship by given value
Device.Here, particularly preferably before given value is considered for calculating actuator position given value, given value is by means of filtering
Device filters.Advantageously relate to low-pass filter.
It is also preferred that being provided with the device for determining the second actuator velocity given value by actuator position given value.
It is preferably provided for the device of the raising limitation of obtained actuator position given value.Particularly preferably it is provided with
Dress for the variation of actuator position given value to be restricted to every sampling step sampling time maximum change in location in other words
It sets.
In addition preferably, be provided in control device according to the present invention by confined actuator position given value
Or the device of the first actuator velocity is calculated by the confined variation of actuator position given value.
Additionally, an expanded configuration of control device according to the present invention, is provided with for making the first actuator velocity
The device being multiplied with scale factor and/or the device for limiting the first actuator velocity.
According to the method for the present invention or control device according to the present invention be preferred for control can electromechanical operation wheel
The electromechanical actuator of brake.
Preferred as an alternative solution, according to the method for the present invention or control device according to the present invention has for controlling
The electromechanical actuator of the braking system of the wheel drag of at least one hydraulically operable.Particularly preferred side according to the present invention
Method or control device according to the present invention provide the electromechanical actuator of device for control pressure.It advantageously relates to include tool
There are the pressure providing device of cylinder-piston apparatus of hydraulic pressure room, the piston of the cylinder-piston apparatus that can be activated by electromechanical
Device moves.
Be especially preferably provided between each wheel drag and affiliated balancing gate pit can electric control enter valve,
Wheel drag can be separated into valve with balancing gate pit's hydraulic pressure by means of described.
It is preferred that especially each wheel drag can by can dump valve and the pressure medium tank of electric control connect
It connects.
Description of the drawings
Other preferred implementing forms of the present invention in the following the description that is carried out by means of attached drawing by obtaining.
Attached drawing is schematically shown：
Fig. 1 shows the schematic circuit for executing electro-hydraulic brake system according to the method for the present invention,
Fig. 2 shows the circuit block diagram of the basic structure of control device,
Fig. 3 shows the exemplary relation between adjustable parameter and the position of electromechanical actuator, and
Fig. 4 shows a part of the control device according to example.
Specific implementation mode
It is diagrammatically illustrated in Fig. 1 according to example for motor vehicle for executing hydraulic pressure according to the method for the present invention
The schematic circuit of formula braking system.Braking system includes unshowned brake pedal and electronic controlled pressure providing device
50, the pressure of the wheel drag 9 for operating at least one hydraulically operable can be generated by means of the pressure providing device.
The operation of brake pedal or operator brake expectation are for example detected by means of suitable sensor, and pressure providing device
50 are electronically controllable according to the operation detected.According to example, pressure providing device 50 passes through with 4 He of hydraulic pressure room
Cylinder-piston apparatus of plunger 3 is formed.Plunger 3 can be by means of electromechanical actuator for example with the electronic of suitable transmission device 2
Machine 1 moves, and thus can adjust the pressure in hydraulic pressure room 4.Transmission device 2 be advantageously configured to roto-translatory transmission device,
Such as ball screw.Wheel drag 9 preferably passes through 4 hydraulic pressure of balancing gate pit of pipeline 8,5 and pressure providing device 50
Ground can be connected or be connected.As an alternative solution it is contemplated that wheel drag passes through pipeline and master cylinder or isolation piston device
(output) balancing gate pit hydraulically can connect or connect, wherein the piston of master cylinder or isolation piston device can be via (defeated
Enter) balancing gate pit/medial compartment by pressure providing device operation (be not shown, for example, see WO 2008/025797 A1 or DE 10
2009 054 985.4).In all situations, pressure requirements PSys,Soll(it for example from the person of sailing or brake control function or is driven
The person's of sailing auxiliary system) electronically by means of electronic controlled pressure providing device 50 be converted to for load wheel drag or
Person says the system pressure P of usual wheel drag 9Sys.In order to realize pressure fast and accurately on the wheel drag 9
Setting, wheel drag 9 can hydraulically be connect by pipeline with the balancing gate pit 4 of pressure providing device 50.
In addition, the braking system according to example of Fig. 1 includes to carry out brake pressure modulation on wheel drag 9
What is be arranged in pipeline 5 enters valve 6 and dump valve 7, wherein the feelings that wheel drag 9 lowers in desired wheel brake pressure
It can be connect with pressure medium tank 11 by dump valve 7 in condition.The balancing gate pit 4 of pressure providing device 50 is in order to pressure to be situated between
Matter is from pressure medium tank 11 supplemental pumping to balancing gate pit 4 and by with towards the direction of pressure medium tank 11
The connecting line 12 of the check-valves 13 of closing is connect with pressure medium tank 11.
In braking, the piston 3 of pressure providing device 50 is moved from its resting position 15 with displacement S by means of motor 1
Into position 14, determine that the pressure medium of volume is moved to from balancing gate pit 4 by pipeline 5 and the valve 6 that enters being initially switched on as a result,
In wheel braking circuit 8 and it is thus moved in wheel drag 9.As a result, in wheel drag 9 overcome lining gap it
After generate brake pressure.
Brake pressure attenuating can be carried out by so that piston 3 is moved back towards the direction of resting position 15.But such as in anti-lock
Control for brake (ABS：Anti-lock braking system) in the case of needed for quick brake pressure lower also by valve group close 6,7 come into
Row, mode are to be closed into valve 6 within the specific time and open dump valve 7.Then, pressure medium is from wheel braking
Device 9 is flow to via dump valve 7 and pipeline 10 in pressure medium tank 11 by pipeline 8.This measure of hypotension
It is especially meaningful when balancing gate pit 4 is connect with multiple wheel drags 9, the brake pressure of the multiple wheel drag
It should respectively be controlled for wheel.
Braking system shown in Fig. 1 can be substantially extended to by other pipeline 5 is led to wheel braking circuit 8
Including any number of wheel drags 9, wherein each wheel drag 9 preferably has into the respective of valve 6 and dump valve 7
Valve pair.When multiloop in order to provide braking system for reliability reasons, pressure providing device may also comprise two or more
A piston 3 and two or more balancing gate pits 4.For passenger car, double loop is meaningful, wherein two wheel drags 9 divide
It is not connect with one of two pressure chambers 4.In design pressure regulating valve also contemplated as the form of implementation of alternative.
The braking system according to example of Fig. 1 advantageously comprises the measuring device in 52 form of pressure sensor, for examining
Measuring pressure provides (system) the pressure P of device 50Sys.The pressure actual value detected by measuring device 52 uses P belowSys,Ist
Label.
In addition, according to example, be provided with measuring device 51, by means of the measuring device detect pressure providing device 50 or
The position of person's electromechanical actuator, position characterization actuator 1 and the thus position of the piston 3 of pressure providing device 50
Or posture or state.Measuring device 51 for example can detect the rotor azimuth angle of motor 1 or the leading screw of roto-translatory transmission device
Position or piston 3 leave the displacement S of its resting position 15.As an alternative solution, the position of pressure providing device 50 also can be by it
Its parameter is for example determined by means of model.Electromechanical actuator (and thus pressure providing device 50) it is corresponding directly
Or the position determined indirectly uses X belowAktTo mark.
For the reason of reliability and fast failure identify, measurement parameters XAktAnd/or measurement parameters PSysAdvantageously redundancy
It acquires on ground.For this purpose, corresponding sensor 51,52 can be configured to inherently reliably, or the sensor of two redundancies can be accordingly set.
In addition, braking system preferably includes to be controlled electronically and adjust unit, actuator position XAkt, measured pressure it is real
Actual value PSys,IstWith pressure given value PSys,SollBe conveyed to it is described electronic control and adjusting unit, and it is described electronic control and
Adjust the adjustable parameter formed in unit for controlling actuator 1.
Whenever driver is by operating general brake pressure of the brake pedal come requirement for the wheel drag of motor vehicle
When, it is necessary to predetermined system pressure or (temporal) system pressure change curve are set by means of adjusting behavior
PSys,Soll.In addition to driver requested, pressure requirements can also pass through miscellaneous function (such as ACC (adaptive learning algorithms), (slopes HSA
Road starting auxiliary), HDC (ramp slow drop control) etc.) propose, or work as the respective specific brake control function example of wheel
It is proposed when working such as ABS (anti-lock braking system), TCS (traction control system) or ESP (electronic stability program).
Miscellaneous function usually requires that the global brake pressure for whole wheel drags 9, be similar to driver by means of
The brake riggings triggered with brake pedal.In such cases, pressure enter valve 6 open in the case of in whole wheel systems
It is generated likewise by the preceding in-migration of piston 3 at dynamic circuit 8.
It is about what the dynamic of system pressure to be set or pressure history should be pursued：In actuator 1,2
In the range of available dynamic, the pressure requirements P that is proposedSys,SollWith (system) pressure occurred in balancing gate pit 4
PSys,IstBetween time delay as small as possible.This is especially adapted for use in when actuator 1,2 is in when pressure requirements start
In its resting position 15 and when therefore must pull against the lining gap of wheel drag 9 first to set required pressure.
Here, actuator first by with the relevant pressure medium body of the size of used wheel drag 9 and set lining gap
Product is moved to from balancing gate pit 4 in wheel drag 9, to make lining recline on the disc brake rotor.But in wheel system during the process
Brake pressure is not established still in dynamic device 9.
The above can also be applied to the electromechanical actuator for operating electromechanical wheel drag.It electromechanical can operate
Wheel drag in, electromechanical actuator includes motor, rotation-rotating transmission device and roto-translatory according to example
Transmission device.Operating element such as piston by electromechanical actuator be pressed towards friction lining one of, as a result, overcome lining gap it
Friction lining is pressed towards element to be braked, such as brake disc and applies breaking force F afterwards.Substitution is used for electro-hydraulic brake system
Pressure providing device above-mentioned (system) pressure PSys,Soll, each electromechanical wheel drag then predetermined one is given
Power or given breaking force FSollOr (temporal) given force change curve.(the system proposed should be also pursued herein
Dynamic deformation from motion) power requirement FSollWith (breaking force) the power F occurred on wheel dragIstBetween time as small as possible
Delay.The power actual value F of wheel dragIstCan measure (such as by means of force snesor), or also can in addition for example by means of
Model determines.
Therefore, the present invention relates to a kind of methods for controlling the electromechanical actuator of motor vehicle braking systems, wherein by
The actual value of control parameter, such as (system) pressure actual value PSys,IstOr (breaking force) power actual value FIstIt is set in pre-
Given given value, such as (system) pressure given value PSys,SollOr (breaking force) power given value FSoll。
It is exemplary below that the present invention is described in detail using (system) pressure as controlled parameter.Given description can be simply
It is diverted to (breaking force) power as controlled parameter.
The block diagram of the basic structure of control device is shown in Fig. 2, it is such as commonly known per se by 10 2,012 200 494 A1 of DE
As, and suitable for setting required system pressure or pressure history PSys,Soll。
It is related to pressure controller 20, actuator rotational speed governor (speed control) 21 is connected with other circuit in centre
The pressure controller downstream is connected in the case of element 23 to 25.Here, the knot of the subtraction executed in subtraction element 19
Fruit pressure given value P required in other wordsSys,SollWith there is currently pressure actual value PSys,IstBetween deviation delta PSysIt is defeated
Give pressure controller 20.Pressure controller 20 passes through predetermined given rotating speed ωAkt,Soll,DR,CtrlCarry out control deviation Δ
PSys, i.e. the output parameter of pressure controller 20 is the first given value for actuator velocity (actuator rotating speed)
ωAkt,Soll,DR,Ctrl.For given pressure PSys,SollValue by supervisory control device or the predetermined (not shown) of regulating device.
Pressure actual value PSys,IstCorresponding to the pressure value generated in the balancing gate pit 4 of pressure providing device shown in Fig. 1 50.Pressure
Actual value PSys,IstSuch as it is measured by means of pressure sensor 52.As controller response, ratio working controller (control by P
Device processed) it is usually enough to.
In order to improve pressure controller dynamic, it is provided with speed pre-control device.In addition to giving for (pressure) controller
Rotational speed omegaAkt,Soll,DR,Ctrl(the first actuator velocity given value), speed pre-control computing module 22 is by pressure given value
PSys,SollBy difference for example additional components are determined by means of difference filter and with the weighting of amplification factor
ωAkt,Soll,DR,FFW(the second actuator velocity given value).Two actuator rotary speed setting value components are formed in adding element 23
ωAkt,Soll,DR,FFWAnd ωAkt,Soll,DR,CtrlSummation.The summation is fed to restricted function 24 to be limited to minimum
Or maximum allowable given rotating speed (ωMin, ωMax).Such as maximum allowable given rotating speed (ωMin, ωMax) can be in value
Size is identical.
In general, component 19,20,22,23 and 24 is also referred to as pressure controller or pressure control device 20.
Output parameter is to be used for actuator velocity (such as motor speed) ωAkt,SollThird given value, the third gives
Definite value is conveyed to rotational speed governor 21 as input parameter.Usually there is the rotational speed governor 21 of proportional integration (PI) characteristic
Other input parameters are the actual speed ω of actuatorAkt,Ist, the actual speed for commutation purpose usually by measuring
Technical available actuator position XAktIt acquires.According to example, confined actuator rotary speed setting value ωAkt,SollAnother
In one subtraction element 25 with actuator rotary speed actual value ωAktIt compares to form actuator rotational speed setup value difference Δ
ωSoll.Actuator rotational speed setup value difference Δ ωSollIt is conveyed to rotational speed governor 21 as input parameter, the rotational speed governor
Output parameter corresponds to the given value M of the torque applied by actuatorAkt,Soll,Ctrl.Finally, torque reference value MAkt,Soll,Ctrl
It is limited to minimum or maximum allowable moment values, and result M in the second limitation module 26Akt,SollIt is transferred to actuator
Control electronic device.
Can electromechanical operation brake electromechanical actuator in the case of, use (breaking force) power F in Fig. 2
Replace pressure PSysAnd pressure controller 20 is substituted by corresponding force controller.
Fig. 3 diagrammatically illustrates the exemplary relation between controlled parameter and the position of electromechanical actuator.It shows
The static characteristic curve 30 of example property, for the pressure P in balancing gate pit 4SysWith actuator position XAktBetween relationship, the cause
Dynamic device position also corresponds to piston displacement S shown in Fig. 1.According to the non-linear of characteristic curve 30, pressure control shown in Fig. 2
The adjustable parameter of device processed --- especially until corresponding to partial brake region in the small region of pressure or pressure requirements
Pressure --- it is less than based on needed for characteristic curve.22 analyzing processing given pressure of speed pre-control device shown in Fig. 2
Change and as given rotating speed component, the speed pre-control device does not consider：In order in the pressure span of lower part, i.e.
Required pressure history is set in characteristic non-linear partial, needs actuator position XAktWith higher pressure
Power region is compared to apparent big and thus quickly variation, the braking characteristic shown in Fig. 3 in the higher pressure span
Curve is apparent precipitous and approximately linearly extends.This characteristic is when for the reduction residual brake torque when wheel drag unclamps
And it is also important when setting relatively large lining gap.
Can electromechanical operation brake electromechanical actuator in the case of, can provide corresponding with characteristic curve 30
Such as nonlinear characteristic curve 40, the characteristic curve for example describe (breaking force) power F and actuator position XAktBetween
Relationship.
In order to eliminate the above problem, according to example, a kind of method for controlling electromechanical actuator is provided, wherein by
The given value of controlled parameter, such as pressure given value PSys,SollBy means of controlled parameter and actuator position (or and actuator
The corresponding parameter in position, such as pressure medium volume) between predetermined relationship acquire for speed pre-control second
Actuator velocity given value.By the given value of controlled parameter be beneficial to help controlled parameter and actuator position (in other words with
The corresponding parameter of actuator position) between predetermined relationship determine actuator position given value XAkt,Soll, the actuating
Then device position given value is used to determine the adjustable parameter for electromechanical actuator.According to example, by obtained actuating
Device position given value XAkt,SollAcquire the second actuator velocity given value ωAkt,Soll,DR,FFW,1, second actuator velocity gives
Definite value is then used to speed pre-control.
Controller structure for eliminating the above problem is described by means of Fig. 4, and Fig. 4 shows illustrative control
One part of device processed.Illustrative functional block 220 " calculating speed pre-control ", the functional block alternate figures 2 are shown in Fig. 4
In known functional block 22.According to functional block 220, by the actuator velocity (i.e. the second actuator velocity given value) of pre-control
No longer determined (such as in frame 22) by being changed with the given pressure of Factors Weighting, but by with pressure given value PSys,SollIt acquires
Actuator position given value SAkt,SollIt determines, when determining the actuator position given value, characterizes the characteristic of braking system
Curve 30 is considered for the pressure P in balancing gate pit 4SysWith actuator position XAktBetween relationship.By the actuator of pre-control
Thus speed substantially corresponds to maintain the volume flow needed for given pressure gradient and thus corresponds to thus obtained cause
Dynamic device rotating speed.
The illustrative method or illustrative control device are to be based on：In the every of the first controller (pressure controller)
In a circuit k, for the given pressure P required by the sampling instantSys,Soll(k) first by means of pressure PSysWith actuator position
Set XAktBetween predetermined characteristic curve 30 (passing through function determined by brake characteristic curve) be converted into corresponding cause
Dynamic device given position XAkt,Soll(k) (frame 46 in Fig. 4).Actuator given position XAkt,Soll(k) it is then delivered to raising
Restricted function.
In order to calculate pre-control rotational speed omegaAkt,Soll,DR,FFW,1Make interference effect when (i.e. the second actuator velocity given value)
Minimum is used for required given pressure P according to exampleSys,SollSignal first in frame 42 low-pass filtering.
Restricted function 41 is increased in the change in location Δ X for considering that the sampling instant maximum per controller 20 can be setMaxFeelings
The actuator given position X that will be calculated under conditionAkt,Soll(k) change curve is restricted to value XAkt,Lim(k).What maximum can be set
Change in location Δ XMaxSuch as it is obtained by available actuator dynamic.
Confined value XAkt,Lim(k) it is optionally exported (in Fig. 4 shown in dotted line) and therefore otherwise utilized.Scheming
X need not be used in 2 remaining control deviceAkt,Lim(k)。
According to example, in increasing restricted function 41, actuator position given value XAkt,SollIn frame 41a by current
The changes delta X (k) that the difference of the actuator position given value of time step k and previous time steps k-1 is formed is limited in frame 41b
It is formed on maximum change in location (Δ XMax, Δ XMin).Confined variation Δ XLim(k) it marks.
Maximum change in location Δ X for every controller circuitMaxValue it is advantageously minimum or maximum allowable by being used for
Actuator given speed rotational speed omega in other wordsMin、ωMaxIn the transmission for considering actuator in the case of (referring to Fig. 2) and possibility
Device 2 and sampling time T0In the case of determine, pressure controller 20 with the sampling time work.
Changes delta X for actuator given positionLim(k) the value acquired in the range of increasing restricted function 41 is
The variation to be required for present sample step of actuator position, therefore calculating speed pre-control is used for according to example
ωAkt,Soll,DR,FFW,1。
In frame 43, by the changes delta X for actuator given positionLim(k) obtained value determines and value Δ XLim
(k) corresponding actuator velocity motor speed (so-called first actuator velocity) ω in other wordsLim。
It (is not shown in Fig. 4) as an alternative solution, increases confined actuator position XAkt,Lim(k) it can also be considered
For calculating the first actuator velocity (motor speed) ωLim, such as its mode is to actuator position XAkt,Lim(k) it is poor to carry out
Point.
According to example, by means of the proportionality factors lambda of such as desirable value between 0 and 1FFWSpeed pre-control is carried out in frame 44
The weighting of system.This determines the degree of speed pre-control interference pressure controller 20 or speed pre-control in pressure controller
The degree of the pressure controller is supported in adjusting task.Here, proportionality factors lambdaFFW=1 means that actuator velocity connection is held
It goes to 100%.According to example, the first actuator velocity ωLimIt is multiplied by proportionality factors lambdaFFW。
Rotating speed restricted function (ω is advantageously provided in frame 45Min,FFW, ωMax,FFW), the rotating speed restricted function can be real
The limitations different for each rotation direction of existing signal.This for example means ωMax,FFWNumerical value can be not equal to ωMin,FFW's
Numerical value.Thus it may be implemented in and allowed for speed when required pressure is established especially for supporting quick gap to overcome
The very big value of pre-control is spent, and maximum value smaller for hypotension is with regard to enough.Here, according to example, there are 0
<ωMax,FFW≤ωMax
And
ωMin=-ωMax≤ωMin,FFW<0
In principle, the rotating speed restricted function (ω of frame 45Min,FFW, ωMax,FFW) with the rotating speed restricted function (ω of frame 24Min,
ωMax) unrelated.
According to example, the actuator velocity λ that is multiplied with scale factorFFW*ωLim(so-called second actuator velocity) by into
Row rotating speed limits.
Rotating speed restricted function 45 --- and thus illustrative functional block " calculating speed pre-control " --- output
Parameter is the second actuator velocity given value ωAkt,Soll,DR,FFW,1(k) (for giving in the pre-control branch of pressure controller 20
Determine the value of rotating speed), the second actuator velocity given value (replaces signal shown in Fig. 2 as additional components
ωAkt,Soll,DR,FFW) it is superimposed upon the first actuator velocity given value ωAkt,Soll,DR,CtrlOn (given rotating speed of controller 20).
Parameter fluctuation in the characteristic curve 30 of characterization braking system that the illustrative method is based on calculating and
Speech is stablized, because while required conversion pressure only considers at actuator position, but for the practical determination of speed pre-control
The variation of actuator position.In addition, suitably determining/selection ratio can be passed through by the too strong pre-control that Parameters variation carries out
Example factor lambdaFFWIt avoids, mode is to give up 100% weighting, and replace the smaller factor of selection.
Can electromechanical operation brake electromechanical actuator in the case of, use (breaking force) power F in Fig. 4 and
It is not pressure PSys, and pressure-displacement curve 30 is replaced to be provided with characteristic curve 40 in frame 46, which retouches
State (breaking force) power F and actuator position XAktBetween relationship.
The present invention provides the following advantages of control program：Improve predetermined system pressure/(breaking force) power
Setting, and consider braking features nonlinear characteristic in the case of by means of the motor-driven actuating in braking system
Device improves curve accuracy in required brake pressure variations curve/(breaking force) power change curve.Exist as a result,
In the range of available actuator dynamic, the change curve of pressure/force requirement and the pressure of appearance that are proposed or appearance
Time delay between (breaking force) power is as small as possible.
Braking lining gap is overcome as quickly as possible it is another advantage of the present invention that ensuring, is being loaded as a result,
Wheel drag in pressure/force require proposition and pressure/force establish beginning between time it is as short as possible.This is especially
When set gap residual brake torque is reduced when wheel drag unclamps and it is relatively large when it is significant.
Claims (21)
1. a kind of method for controlling the electromechanical actuator (1,2) of motor vehicle braking systems, wherein the reality of controlled parameter
It is worth (PSys,Ist, FIst) predetermined given value (P should be adjusted to according to this methodSys,Soll, FSoll), wherein it is given based on described
Definite value (PSys,Soll, FSoll) and the actual value (PSys,Ist, FIst) by means of the first controller (19,20) acquire the first actuating
Device speed preset value (ωAkt,Soll,DR,Ctrl), and based on the first actuator velocity given value and it is used for speed pre-control
The second actuator velocity given value (ωAkt,Soll,DR,FFW,1) determine the adjustable parameter for being used for the electromechanical actuator (1,2)
(ωAkt,Soll, MAkt,Soll), it is characterised in that：The second actuator velocity given value (ωAkt,Soll,DR,FFW,1) based on described
Given value and the controlled parameter (PSys, F) with corresponding to the electromechanical actuator position parameter (XAkt) between tool
There is the predetermined relationship (30,40) of non-linear partial to acquire.
2. according to the method described in claim 1, it is characterized in that：Based on the first and second actuator velocities given value
(ωAkt,Soll,DR,Ctrl, ωAkt,Soll,DR,FFW,1) determine third actuator velocity given value (ωAkt,Soll), the third actuator
Speed preset value is fed to second controller (25,21) as input parameter.
3. method according to claim 1 or 2, it is characterised in that：By the given value by means of the predetermined pass
Actuator position given value (X acquires in system (30,40)Akt,Soll)。
4. according to the method described in claim 3, it is characterized in that：The given value is filtered, and filtered given value
It is used to acquire the actuator position given value (XAkt,Soll)。
5. according to the method described in claim 3, it is characterized in that：By the actuator position given value (XAkt,Soll) acquire institute
State the second actuator velocity given value (ωAkt,Soll,DR,FFW,1)。
6. according to the method described in claim 3, it is characterized in that：Execute obtained actuator position given value (XAkt,Soll)
Raising limit (XAkt,Lim)。
7. according to the method described in claim 6, it is characterized in that：Based on confined actuator position given value (XAkt,Lim)
Or confined variation (the Δ X of actuator position given valueLim) acquire the first actuator velocity (ωLim)。
8. according to the method described in claim 7, it is characterized in that：First actuator velocity (the ωLim) by with ratio because
Son (λFFW) be multiplied and be weighted.
9. method according to claim 7 or 8, it is characterised in that：Execute the first actuator velocity (ωLim) speed limit
System.
10. according to the method described in claim 7, it is characterized in that：Based on the confined actuator position given value
(XAkt,Lim) or the actuator position given value confined variation (Δ XLim) or obtained first actuator velocity
(ωLim) acquire the second actuator velocity given value (ωAkt,Soll,DR,FFW,1)。
11. according to the method described in claim 2, it is characterized in that：By by the first actuator velocity given value
(ωAkt,Soll,DR,Ctrl) and the second actuator velocity given value (ωAkt,Soll,DR,FFW,1) phase Calais determines that the third causes
Dynamic device speed preset value (ωAkt,Soll)；The second controller (25,21) is speed control.
12. according to the method described in claim 6, it is characterized in that：By by the actuator position given value (XAkt,Soll)
Variation (Δ X) be restricted to maximum change in location (the Δ X of each sampling time of first controllerMax) described to implement
Increase limitation.
13. according to the method described in claim 9, it is characterized in that：The rate limitation is according to the rotation side of the actuator
Always it executes.
14. a kind of control device of electromechanical actuator (1,2) for motor vehicle braking systems, the actual value of controlled parameter
(PSys,Ist, FIst) predetermined given value (P should be adjusted to by means of the control deviceSys,Soll, FSoll), the control device packet
The second controller (25,21) for including the first controller (19,20) and being connected to first controller downstream, it is described predetermined
Given value and the actual value are fed to first controller as input parameter, wherein by being controlled by means of described first
The first actuator velocity given value (ω that device processed determinesAkt,Soll,DR,Ctrl) and for speed pre-control the second actuator velocity
Given value (ωAkt,Soll,DR,FFW,1) determine third actuator velocity given value (ωAkt,Soll), it is characterised in that：Described second causes
Dynamic device speed preset value (ωAkt,Soll,DR,FFW,1) it is based on the given value (PSys,Soll, FSoll) and the controlled parameter (PSys, F)
With the parameter (X of the position corresponding to the electromechanical actuatorAkt) between the predetermined relationship with non-linear partial
(30,40) determine.
15. control device according to claim 14, it is characterised in that：It is provided with for by the given value (PSys,Soll,
FSoll) by means of predetermined relationship (30,40) the calculating actuator position given value (XAkt,Soll) device (42,46).
16. control device according to claim 15, it is characterised in that：Be provided with for obtained actuator position to
Definite value (XAkt,Soll) raising limitation device (41,41a, 41b).
17. control device according to claim 16, it is characterised in that：It is provided with for by confined actuator position
Given value (XAkt,Lim) or by the actuator position given value confined variation (Δ XLim) calculate the first actuator velocity
(ωLim) device (43).
18. control device according to claim 17, it is characterised in that：It is provided with and is used for first actuator velocity
(ωLim) and scale factor (λFFW) be multiplied device (44) and/or for limiting the first actuator velocity (ωLim) dress
It sets (45).
19. control device according to claim 14, it is characterised in that：The second controller (25,21) is speed control
Device processed；By by the first actuator velocity given value (ωAkt,Soll,DR,Ctrl) and the second actuator velocity given value
(ωAkt,Soll,DR,FFW,1) phase Calais determines the third actuator velocity given value (ωAkt,Soll)。
20. control device according to claim 15, it is characterised in that：It is provided with for being given by the actuator position
It is worth (XAkt,Soll) determine the second actuator velocity given value (ωAkt,Soll,DR,FFW,1) device (41,43,44,45).
21. control device according to claim 16, it is characterised in that：It is provided with for giving the actuator position
It is worth (XAkt,Soll) variation (Δ X) be restricted to maximum change in location (the Δ X of each sampling time of the first controllerMax) dress
It sets (41b).
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102013210422.7 | 2013-06-05 | ||
| DE102013210422 | 2013-06-05 | ||
| DE102013224967.5 | 2013-12-05 | ||
| DE102013224967.5A DE102013224967A1 (en) | 2013-06-05 | 2013-12-05 | Method for controlling an electromechanical actuator and regulating device |
| PCT/EP2014/059688 WO2014195093A1 (en) | 2013-06-05 | 2014-05-13 | Method for controlling an electromechanical actuator, and control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105263770A CN105263770A (en) | 2016-01-20 |
| CN105263770B true CN105263770B (en) | 2018-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480032019.2A Active CN105263770B (en) | 2013-06-05 | 2014-05-13 | Method for controlling electromechanical actuator and control device |
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| Country | Link |
|---|---|
| US (1) | US10081344B2 (en) |
| EP (1) | EP3003803B1 (en) |
| KR (1) | KR20160018599A (en) |
| CN (1) | CN105263770B (en) |
| DE (1) | DE102013224967A1 (en) |
| WO (1) | WO2014195093A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013216157A1 (en) * | 2012-09-28 | 2014-04-03 | Continental Teves Ag & Co. Ohg | Method for controlling a brake system for motor vehicles |
| DE102013216329A1 (en) * | 2013-08-19 | 2015-02-19 | Continental Teves Ag & Co. Ohg | Method and device for controlling a brake system |
| DE102015215926A1 (en) | 2015-08-20 | 2017-02-23 | Continental Teves Ag & Co. Ohg | Method for controlling a brake system for motor vehicles, regulating device and brake system |
| CN106627544B9 (en) * | 2016-11-18 | 2023-10-31 | 辽宁工业大学 | Electric automobile brake control integrated system and control method thereof |
| US11535211B2 (en) * | 2017-12-31 | 2022-12-27 | ZF Active Safety US Inc. | Vehicle brake system and method of detecting piston location of a plunger assembly |
| EP3847065A1 (en) * | 2018-09-03 | 2021-07-14 | Freni Brembo S.p.A. | Method for detecting malfunctions of an electro-actuated brake apparatus of a motor vehicle |
| DE102019215419A1 (en) * | 2019-10-09 | 2021-04-15 | Continental Teves Ag & Co. Ohg | Method for determining the clamping force of an electromechanical brake |
| US11161488B2 (en) | 2019-10-30 | 2021-11-02 | Deere & Company | Brake compliance calibration with electrohydraulic brakes |
| DE102020200908A1 (en) * | 2020-01-27 | 2021-07-29 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for regulating a kinematic variable of a motor vehicle |
| KR20220100260A (en) | 2021-01-08 | 2022-07-15 | 농업회사법인 주식회사 해피바이오텍 | Effective extraction method of pepper extract containing high polyamine having anti-inflammatory activity |
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| FR2924082A3 (en) * | 2007-11-28 | 2009-05-29 | Renault Sas | Uncoupled braking system for motor vehicle, has gain module forming nominal braking force signal from nominal mass of vehicle, and addition module adding signal with additional braking force signal to generate signal controlling actuators |
| CN102933440A (en) * | 2010-06-10 | 2013-02-13 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Method and control circuit for controlling a braking system for motor vehicles |
| CN102933439A (en) * | 2010-06-10 | 2013-02-13 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Method and device for controlling an electrohydraulic braking system for motor vehicles |
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|---|---|---|---|---|
| DE69229634T2 (en) * | 1991-11-29 | 2000-02-24 | Mitsubishi Motors Corp | METHOD AND DEVICE FOR REGULATING THE BRAKE FORCE OF THE REAR WHEELS |
| DE102004012355A1 (en) | 2003-03-18 | 2004-09-30 | Continental Teves Ag & Co. Ohg | Actuator unit for electromechanically operated disk brake has regulator unit arranged at least partly between electric motor and housing accommodating second reduction gear mechanism |
| DE102005055751B4 (en) * | 2005-04-21 | 2018-09-06 | Ipgate Ag | Pressure modulator control |
| DE102006040424A1 (en) | 2006-08-29 | 2008-03-06 | Continental Teves Ag & Co. Ohg | Braking system for motor vehicles |
| DE102009054985A1 (en) | 2009-07-07 | 2011-01-13 | Continental Teves Ag & Co. Ohg | Braking system for motor vehicle, has piston led into housing and limiting hydraulic area, where pressure application of piston effects movement of another piston in operating direction |
| DE102012200494B4 (en) | 2011-01-27 | 2020-07-23 | Continental Teves Ag & Co. Ohg | Method for regulating a brake system for motor vehicles and brake system |
-
2013
- 2013-12-05 DE DE102013224967.5A patent/DE102013224967A1/en not_active Withdrawn
-
2014
- 2014-05-13 WO PCT/EP2014/059688 patent/WO2014195093A1/en active Application Filing
- 2014-05-13 CN CN201480032019.2A patent/CN105263770B/en active Active
- 2014-05-13 EP EP14724709.2A patent/EP3003803B1/en active Active
- 2014-05-13 KR KR1020157037111A patent/KR20160018599A/en active IP Right Grant
- 2014-05-13 US US14/896,290 patent/US10081344B2/en active Active
Patent Citations (3)
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|---|---|---|---|---|
| FR2924082A3 (en) * | 2007-11-28 | 2009-05-29 | Renault Sas | Uncoupled braking system for motor vehicle, has gain module forming nominal braking force signal from nominal mass of vehicle, and addition module adding signal with additional braking force signal to generate signal controlling actuators |
| CN102933440A (en) * | 2010-06-10 | 2013-02-13 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Method and control circuit for controlling a braking system for motor vehicles |
| CN102933439A (en) * | 2010-06-10 | 2013-02-13 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Method and device for controlling an electrohydraulic braking system for motor vehicles |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102013224967A1 (en) | 2014-12-11 |
| WO2014195093A1 (en) | 2014-12-11 |
| CN105263770A (en) | 2016-01-20 |
| KR20160018599A (en) | 2016-02-17 |
| US20160137178A1 (en) | 2016-05-19 |
| EP3003803B1 (en) | 2019-10-30 |
| EP3003803A1 (en) | 2016-04-13 |
| US10081344B2 (en) | 2018-09-25 |
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